Patroller positioning method based on spliced images
A technology of splicing images and positioning methods, applied in image analysis, image data processing, instruments, etc., can solve the problems of limited scale difference, small number of feature points, lack of texture, etc., to increase the range, improve the matching success rate, avoid The effect of a failed match
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[0025] like figure 1 As shown, the present invention provides a splicing image-based patroller positioning method, comprising the following steps:
[0026] Step S1: Take the known site of the patrol as the previous site, and the new site that the patrol reaches a certain distance forward as the current site, and use the binocular stereo camera to shoot sequence images within a certain angle range in front of the previous site and the current site .
[0027] like figure 2 As shown, the rover is a mobile robot with four driving wheels, including the rover body, a vertical mast mechanism located above the front of the vehicle body, a two-degree-of-freedom pan-tilt mechanism at the top of the mast, and a pan-tilt support mounted on the top of the mast. The binocular camera on the stand; the gimbal can be rotated in two degrees of freedom, pitch and yaw, and the camera can be controlled to shoot images in different directions through the gimbal rotation; the mast, gimbal and bin...
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